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329 lines
12 KiB
329 lines
12 KiB
//============================================================================
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//
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// KRotation screen saver for TDE
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// Copyright (C) 2004 Georg Drenkhahn
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// $Id$
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//
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//============================================================================
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#ifndef __ROTATION_H__
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#define __ROTATION_H__
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#include <math.h>
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// STL headers
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#include <valarray>
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// TQt headers
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#include <tqwidget.h>
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#include <tqtimer.h>
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#include <tqgl.h>
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// GL headers
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#include <GL/glu.h>
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#include <GL/gl.h>
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// TDE headers
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#include <tdescreensaver.h>
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#include "vec3.h"
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#include "rkodesolver.h"
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// KRotationSetupUi
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#include "rotationcfg.h"
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//--------------------------------------------------------------------
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/** @brief ODE solver for the Euler equations.
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*
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* Class implements RkOdeSolver<double> to solve the Euler equations of motion
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* tor the rotating object. */
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class EulerOdeSolver : public RkOdeSolver<double>
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{
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public:
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/** @brief Constructor for the ODE solver for the Euler equations.
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* @param t Time in seconds, integration variable
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* @param dt Initial time increment in seconds for integration, auto adjusted
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* later to guarantee precision
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* @param _A Moment of inertia along 1. figure axis
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* @param _B Moment of inertia along 2. figure axis
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* @param _C Moment of inertia along 3. figure axis
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* @param _y Vector of 12 elements containing the initial rotation vector
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* omega (elements 0 to 2), and the initial rotating systems coordinate
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* vectors e1, e2, e3 (elements 3 to 5, 6 to 8, and 9 to 11).
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* @param eps Relative precision per integration step, see
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* RkOdeSolver::RkOdeSolver(). */
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EulerOdeSolver(
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const double &t_,
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const double &dt_,
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const double &A_,
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const double &B_,
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const double &C_,
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std::valarray<double> &y_,
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const double &eps);
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protected:
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/** @brief ODE function for the Euler equation system
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* @param x time in seconds
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* @param y Vector of 12 elements containing the rotation vector omega
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* (elements 0 to 2), and the rotating systems coordinate vectors e1, e2, e3
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* (elements 3 to 5, 6 to 8, and 9 to 11).
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* @return derivation dy/dx */
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std::valarray<double>
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f(const double &x, const std::valarray<double> &y) const;
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private:
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/** Moments of inertia along the three figure axes */
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double A, B, C;
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};
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//--------------------------------------------------------------------
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/** @brief GL widget class for the KRotation screen saver
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*
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* Class implements TQGLWidget to display the KRotation screen saver. */
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class RotationGLWidget : public TQGLWidget
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{
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Q_OBJECT
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public:
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/** @brief Constructor of KRotation's GL widget
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* @param parent parent widget, passed to TQGLWidget's constructor
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* @param name name of widget, passed to TQGLWidget's constructor
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* @param omega current rotation vector
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* @param e1 x trace data
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* @param e2 y trace data
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* @param e3 z trace data
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* @param J 3 vector with momenta of inertia with respect to the 3 figure
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* axes. */
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RotationGLWidget(TQWidget* parent, const char* name,
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const vec3<double>& omega,
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const std::deque<vec3<double> >& e1,
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const std::deque<vec3<double> >& e2,
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const std::deque<vec3<double> >& e3,
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const vec3<double>& J);
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protected:
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/** Called if scenery (GL view) must be updated */
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virtual void paintGL();
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/** Called if gl widget was resized. Method makes adjustments for new
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* perspective */
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virtual void resizeGL(int w, int h);
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/** Setup the GL enviroment */
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virtual void initializeGL();
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private:
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/** @brief Draw 3D arrow
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* @param total_length total length of arrow
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* @param head_length length of arrow head (cone)
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* @param base_width width of arrow base
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* @param head_width width of arrow head (cone)
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*
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* The arrow is drawn from the coordinates zero point along th z direction.
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* The cone's tip is located at (0,0,@a total_length). */
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void myGlArrow(GLfloat total_length, GLfloat head_length,
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GLfloat base_width, GLfloat head_width);
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/** Draw the traces in the GL area */
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void draw_traces (void);
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private: // Private attributes
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/** Eye position distance from coordinate zero point */
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GLfloat eyeR;
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/** Eye position theta angle from z axis */
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GLfloat eyeTheta;
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/** Eye position phi angle (longitude) */
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GLfloat eyePhi;
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/** Box size */
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vec3<double> boxSize;
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/** GL object list of fixed coordinate systems axses */
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GLuint fixedAxses;
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/** GL object list of rotating coordinate systems axses */
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GLuint bodyAxses;
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/** Light position distance from coordinate zero point */
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GLfloat lightR;
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/** Light position theta angle from z axis */
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GLfloat lightTheta;
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/** Light position phi angle (longitude) */
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GLfloat lightPhi;
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/** stores position where the mouse button was pressed down */
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TQPoint mouse_press_pos;
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/** Length of the rotating coordinate system axses */
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GLfloat bodyAxsesLength;
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/** Length of the fixed coordinate system axses */
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GLfloat fixedAxsesLength;
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/** The openGL rotation matrix for the box. */
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GLfloat rotmat[16];
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/** reference to current rotation vector */
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const vec3<double>& omega;
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/** reference to x trace values */
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const std::deque<vec3<double> >& e1;
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/** reference to y trace values */
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const std::deque<vec3<double> >& e2;
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/** reference to z trace values */
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const std::deque<vec3<double> >& e3;
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};
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//--------------------------------------------------------------------
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/** @brief Main class of the KRotation screen saver
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*
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* This class implements KScreenSaver for the KRotation screen saver. */
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class KRotationSaver : public KScreenSaver
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{
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Q_OBJECT
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public:
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/** @brief Constructor of the KRotation screen saver object
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* @param drawable Id of the window in which the screen saver is drawed
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*
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* Initial settings are read from disk, the GL widget is set up and displayed
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* and the eq. of motion solver is started. */
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KRotationSaver(WId drawable);
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/** @brief Destructor of the KPendulum screen saver object
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*
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* Only KPendulumSaver::solver is destoyed. */
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~KRotationSaver();
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/** read the saved settings from disk */
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void readSettings();
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/** init physical quantities and set up the ode solver */
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void initData();
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/** Returns length of traces in seconds of visibility, parameter from setup
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* dialog */
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inline double traceLengthSeconds(void) const {return m_traceLengthSeconds;}
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/** Sets the length of traces in seconds of visibility. */
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void setTraceLengthSeconds(const double& t);
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/** Lower argument limit for setTraceLengthSeconds() */
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static const double traceLengthSecondsLimitLower;
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/** Upper argument limit for setTraceLengthSeconds() */
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static const double traceLengthSecondsLimitUpper;
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/** Default value of KRotationSaver::m_traceLengthSeconds */
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static const double traceLengthSecondsDefault;
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/** Flags indicating if the traces for x,y,z are shown. Only relevant if
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* ::randomTraces is not set to true. Parameter from setup dialog */
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inline bool traceFlag(unsigned int n) const {return m_traceFlag[n];}
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/** (Un)Sets the x,y,z traces flags. */
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inline void setTraceFlag(unsigned int n, const bool& flag)
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{m_traceFlag[n] = flag;}
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/** Default values for KRotationSaver::m_traceFlag */
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static const bool traceFlagDefault[3];
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/** If flag is set to true the traces will be (de)activated randomly all 10
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* seconds. Parameter from setup dialog */
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inline bool randomTraces(void) const {return m_randomTraces;}
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/** (Un)Sets the random trace flag. */
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inline void setRandomTraces(const bool& flag) {m_randomTraces = flag;}
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/** Default value for KRotationSaver::m_randomTraces */
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static const bool randomTracesDefault = true;
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/** Returns the angular momentum. */
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inline double Lz(void) const {return m_Lz;}
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/** Sets the angular momentum. */
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void setLz(const double& Lz);
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/** Lower argument limit for setLz() */
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static const double LzLimitLower;
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/** Upper argument limit for setLz() */
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static const double LzLimitUpper;
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/** Default value for KRotationSaver::m_Lz */
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static const double LzDefault;
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/** Returns initial eulerian angle theta of the top body at t=0 sec. */
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inline double initEulerTheta(void) const {return m_initEulerTheta;}
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/** Set the initial eulerian angle theta of the top body at t=0 sec. */
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void setInitEulerTheta(const double& theta);
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/** Lower argument limit for setInitEulerTheta() */
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static const double initEulerThetaLimitLower;
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/** Upper argument limit for setInitEulerTheta() */
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static const double initEulerThetaLimitUpper;
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/** Default value for KRotationSaver::m_initEulerTheta */
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static const double initEulerThetaDefault;
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public slots:
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/** slot is called if integration should proceed by ::deltaT */
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void doTimeStep();
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/** slot is called if setup dialog changes in size and the GL area should be
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* adjusted */
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void resizeGlArea(TQResizeEvent* e);
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private:
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/** Momentum of inertia along figure axes */
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vec3<double> J;
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/** Initial eulerian angles phi of the top body at t=0s */
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double initEulerPhi;
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/** Initial eulerian angles psi of the top body at t=0s */
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double initEulerPsi;
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/** The ode solver which is used to integrate the equations of motion */
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EulerOdeSolver* solver;
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/** Gl widget of simulation */
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RotationGLWidget* glArea;
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/** Timer for the real time integration of the Euler equations */
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TQTimer* timer;
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/** current rotation vector */
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vec3<double> omega;
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/** deque of unit vectors of e1 figure axes in fixed frame coordinates */
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std::deque<vec3<double> > e1;
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/** deque of unit vectors of e2 figure axes in fixed frame coordinates */
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std::deque<vec3<double> > e2;
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/** deque of unit vectors of e3 figure axes in fixed frame coordinates */
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std::deque<vec3<double> > e3;
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/** Time step size for the integration in milliseconds. Used in
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* ::KRotationSaver and ::RotationGLWidget. */
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static const unsigned int deltaT = 20;
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/** Length of traces in seconds of visibility, parameter from setup dialog */
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double m_traceLengthSeconds;
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/** Flags indicating if the traces for x,y,z are shown. Only relevant if
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* ::randomTraces is not set to true. Parameter from setup dialog */
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bool m_traceFlag[3];
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/** If flag is set to true the traces will be (de)activated randomly all 10
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* seconds. Parameter from setup dialog */
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bool m_randomTraces;
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/** Angular momentum. This is a constant of motion and points always into
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* positive z direction. Parameter from setup dialog */
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double m_Lz;
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/** Initial eulerian angles theta of the top body at t=0 sec. Parameter from
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* setup dialog */
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double m_initEulerTheta;
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};
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//--------------------------------------------------------------------
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/** @brief KRotation screen saver setup dialog.
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*
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* This class handles the KRotation screen saver setup dialog. */
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class KRotationSetup : public KRotationSetupUi
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{
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Q_OBJECT
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public:
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KRotationSetup(TQWidget* parent = NULL, const char* name = NULL);
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~KRotationSetup();
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public slots:
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/// slot for the OK Button: save settings and exit
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void okButtonClickedSlot(void);
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/// slot for the About Button: show the About dialog
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void aboutButtonClickedSlot(void);
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void randomTracesToggled(bool state);
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void xTraceToggled(bool state);
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void yTraceToggled(bool state);
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void zTraceToggled(bool state);
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void lengthEnteredSlot(const TQString& s);
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void LzEnteredSlot(const TQString& s);
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void thetaEnteredSlot(const TQString& s);
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private:
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/// the screen saver widget which is displayed in the preview area
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KRotationSaver* saver;
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};
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#endif
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